Title :
A novel piezoelectric driven laparoscopic instrument with multiple degree of freedom parallel kinematic structure
Author :
Röse, A. ; Wohlleber, C. ; Kassner, S. ; Schlaak, H.F. ; Werthschützky, R.
Author_Institution :
Dept. of Electr. Eng. & Inf. Technol., Tech. Univ. Darmstadt, Darmstadt, Germany
Abstract :
The development of a novel actuator driven laparoscopic instrument with parallel kinematic instrument tip serves to overcome the workspace restrictions of classic laparoscopic instruments and provides the surgeon multiple degrees of freedom (DOF) inside the patients body.
Keywords :
kinematics; medical control systems; piezoelectric actuators; actuator driven laparoscopic instrument; laparoscopic instruments; multiple degree of freedom; parallel kinematic instrument tip; parallel kinematic structure; piezoelectric driven laparoscopic instrument; Abdomen; Actuators; Cables; Instruments; Kinematics; Laparoscopes; Minimally invasive surgery; Shafts; Surges; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354507
